US 12,005,906 B2
Using driver assistance to detect and address aberrant driver behavior
David Harrison Silver, San Carlos, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by WAYMO LLC, Mountain View, CA (US)
Filed on Oct. 8, 2020, as Appl. No. 17/065,722.
Claims priority of provisional application 62/915,134, filed on Oct. 15, 2019.
Prior Publication US 2021/0107494 A1, Apr. 15, 2021
Int. Cl. B60W 40/09 (2012.01); B60W 50/06 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G01C 21/30 (2006.01); G08G 1/16 (2006.01)
CPC B60W 40/09 (2013.01) [B60W 50/06 (2013.01); B60W 50/14 (2013.01); B60W 60/0015 (2020.02); B60W 60/0051 (2020.02); G01C 21/30 (2013.01); G08G 1/166 (2013.01); B60W 2540/30 (2013.01); B60W 2556/10 (2020.02); B60W 2556/65 (2020.02)] 25 Claims
OG exemplary drawing
 
1. A method comprising:
performing, by one or more processors, state tracking of driving actions performed by a driver of a vehicle while the vehicle travels over a given distance;
receiving, by the one or more processors, sensor information from a perception system of the vehicle, the sensor information including information associated with an external environment of the vehicle;
maintaining, by the one or more processors, a driving log based on the state tracking of driving actions and the sensor information, the driving log indicating each time one of the driving actions performed by the driver falls outside of a threshold range and each time the driver fails to perform a driving action;
determining, by the one or more processors based on the driving log, whether the driver's behavior is aberrant; and
when the driver's behavior is determined to be aberrant,
controlling, by the one or more processors, the vehicle to perform one or more actions while operating in a semi-autonomous driving mode.